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I'm starting to use the map obtained from de Gmapping with the objective of fusing this data with laser scan and odometry to make my robot localization using an EKF approach.
I search for an existing package without success, can you give me more information about this? Some examples or ideas?
Assuming that you specifically want to use an EKF-based approach and not just a particle filter with Monte Carlo localization like amcl, you could for instance use the EKF (or UKF) implementations in the robot_localization package to fuse your existing source of odometry with another odometry estimate made by a scan matcher like laser_scan_matcher.
Note that unless you have specific instructions not to use amcl, I would give it a try first since it is the most widely used localization tool for LIDAR+odometry robots with ROS.
Edit : If you want to use an existing map, you indeed need a scan-to-map matcher. Then robot_localization can help fuse the estimate of the scan-to-map matcher with your odometry using an EKF. But I am afraid I don't know about individual ROS packages providing a scan-to-map matching feature in isolation, you would have to look at how it is implemented in the various localization/SLAM packages out there.
Yes, I specifically want to use an EKF-based approach. I want to do localization as made by the AMCL but using one EKF approach. I want to use the map information too, and as I can see the laser_scan_matcher doesn't use it. Do you know any existing approach that does it?
unless you are not allowed to use AMCL, I would recommend using AMCL with an odometry source and then, if you want, fusing them together using an EKF like robot_localization (I know this is a year old, but I wanted to answer this for anyone who looks at this question later)
Asked: 2016-03-27 18:52:44 -0500
Seen: 1,651 times
Last updated: Mar 28 '16
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